version: 66.11
glider: 129
mission: 6
dive: 6
start: 5 1 113 19 56 56
data:
$ID,129
$MISSION,6
$DIVE,6
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,90
$D_ABORT,200
$D_NO_BLEED,100
$D_BOOST,20
$T_BOOST,5
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,30
$T_MISSION,45
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51080
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,270
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,550
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-8983.9043
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,80
$PITCH_MAX,3800
$C_PITCH,2220
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125753
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3900
$ROLL_DEG,40
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,210
$VBD_MAX,3600
$C_VBD,3055
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0020000001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-53.201611
$PRESSURE_SLOPE,0.0001153375
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044205599
$SEABIRD_T_H,0.00065295544
$SEABIRD_T_I,2.7173966e-05
$SEABIRD_T_J,2.9599335e-06
$SEABIRD_C_G,-10.091012
$SEABIRD_C_H,1.1303297
$SEABIRD_C_I,-0.0017080312
$SEABIRD_C_J,0.00019346757
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,010513,195255,4743.710,-12224.715,9,1.5,9,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-58.5
$GPS2,010513,195630,4743.711,-12224.714,11,1.3,11,18.2
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,HEADING
$TGT_LATLONG,4743.711,-12240.769
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,251.8,20000,-18.2,-10.000,-20.99,2236
$D_GRID,175
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.05,-146.6,74,1912,932,671,0.0,0.0,0,156,0.00,0.00,-133.27,0.000,16386,0.000,0.000,74,1912,3388,3482,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,160,-1.05,-146.6,74,1912,3482,3295,3.6,-8.0,24,179,6.90,2.12,-4.57,0.000,18692,0.243,0.063,1862,3310,3603,3693,3514,0,0,0,0,0,0,25.97,26.22,26.50
$GC,314,-0.76,-146.6,1862,3310,3694,3514,37.3,-17.5,46,321,0.38,2.15,0.00,0.000,3078,0.160,0.036,1972,1872,3604,3694,3515,0,0,0,0,0,0,26.11,26.30,28.83
$GC,620,-0.71,-146.6,1972,1870,3695,3515,76.8,-12.7,77,625,0.00,2.08,0.00,0.000,516,0.000,0.044,1973,489,3604,3695,3514,0,0,0,0,0,0,28.83,26.36,28.83
$STATE,723,end dive,TARGET_DEPTH_EXCEEDED
$STATE,723,begin apogee
$GC,733,-0.21,0.0,1957,2207,3695,3514,91.1,-14.1,87,868,0.57,0.00,127.80,0.664,10246,0.138,0.000,2147,2207,3050,3149,2951,0,0,0,0,0,0,26.25,28.83,24.53
$STATE,870,end apogee,CONTROL_FINISHED_OK
$STATE,870,begin climb
$GC,873,1.05,146.6,2147,2207,3146,2948,98.9,0.0,101,1026,1.20,2.30,143.05,0.620,10500,0.096,0.049,2554,3595,2450,2560,2340,0,0,0,0,0,0,25.10,24.89,24.39
$GC,1256,0.83,146.6,1576,3593,2494,2317,63.4,12.0,139,1263,0.28,2.12,0.00,0.000,5126,0.165,0.035,2490,2194,2444,2557,2332,0,0,0,0,0,0,25.66,25.83,28.83
$GC,1564,0.89,177.0,2489,2194,2557,2324,36.7,8.6,170,1598,0.00,2.22,27.50,0.583,8452,0.000,0.050,2490,3601,2329,2449,2209,0,0,0,0,0,0,28.83,25.76,25.25
$GC,1620,0.90,181.7,1552,3600,2389,2196,31.4,9.8,175,1628,0.00,2.12,2.15,0.223,9222,0.000,0.034,2498,2183,2314,2436,2193,0,0,0,0,0,0,28.83,25.86,25.10
$GC,1932,1.12,268.1,2498,2182,2437,2191,6.0,6.0,230,1979,0.20,2.25,36.78,0.069,10500,0.086,0.050,2581,3594,1960,2091,1829,0,0,0,0,0,0,26.10,26.08,26.06
$STATE,1987,end climb,SURFACE_DEPTH_REACHED
$STATE,1987,begin surface coast
$FINISH,0.2,1.010031
$STATE,2012,end surface coast,CONTROL_FINISHED_OK
$STATE,2012,begin surface
$SM_CCo,2033,118.65,0.060,0,0,811,550.21
$SM_GC,0.92,6.72,2.60,118.65,0.060,0.034,0.060,70,1893,811,-6.65,1.55,550.21,0,0,0,0,0,0,26.10,26.15,26.03
$IRIDIUM_FIX,4726.11,-12223.37,010513,191944
$TT8_MAMPS,0.025466,0.025466
$HUMID,39.80
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,16.80
$XPDR_PINGS,1
$SC_FREEKB,3912832
$24V_AH,24.4,1.067
$10V_AH,9.9,1.071
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,16.250,22.600,337.275,118.650,0.000,0.000,0.000,0.000,0.250,0.000,12.632,545.215,602.148,510.074,489.299,82.451,0.000,825.223,0.000,469.833,0.000,0.536,0.000
$DEVICE_MAMPS,242.505,62.730,664.020,59.670,0.000,0.000,0.000,0.000,420.000,0.000,33.700,11.080,2.190,11.080,37.300,47.040,0.000,15.880,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1993.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.005,0.000,0.000,0.000
$MEM,323220
$DATA_FILE_SIZE,6820,244
$CAP_FILE_SIZE,63367,0
$CFSIZE,260034560,253890560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010513,203403,4743.873,-12224.769,11,2.5,30,18.2